Subactions

  
Figure: The subactions type

Complex actions, such as fueling a vehicle, will involve several subactions. Thus, the subactions part of the representation consists of a list of parameterized actions and temporal constraints among the actions (see Figure ). The possible temporal relationships between two actions are:

Sequential (seq)

The actions are done sequentially (default)

Parallel (par)

The actions are done in parallel

Jointly parallel (par-join)

The actions are done in parallel and no other actions are done until after both have finished

Independently parallel (par-indy)

The actions are done in parallel but once one of the actions is finished, the other one is stopped

While parallel (while)

The subordinate action is done while the dominant action is done; once the dominant action finishes, the subordinate action is stopped